Spectral camera control device and method for controlling spectral camera

ABSTRACT

[Problem] 
     To provide a spectral camera control device, a spectral camera control program, a spectral camera control system, an aircraft equipped with said system, and a spectral image capturing method, with which it is possible for each of a spatial resolution and an exposure time for spectral image capture to be set arbitrarily, and with which spatial distortion and displacement of the spectral image can be suppressed. 
     [Solution] 
     This spectral camera control device is installed together with a spectral camera  3  provided with a liquid crystal tunable filter  33  in an aircraft  1  capable of stationary flight, and causes the spectral camera  3  to capture an image in a snapshot mode each time the transmission wavelength of the liquid crystal tunable filter  33  is switched while the aircraft  1  is in stationary flight.

TECHNICAL FIELD

The present invention relates to a spectral camera control device, aspectral camera control program, a spectral camera control system, anaircraft equipped with the system, and a spectral image capturing methodfor capturing spectral images by a spectral camera installed in anaircraft capable of stationary flight.

BACKGROUND ART

A spectral image is obtained by capturing an image of visible light andinfrared regions, etc. by a spectral camera. Since this spectral imageallows a user to grasp, for example, the protein content of an objectcaptured in an image, it makes it possible to grasp the state ofharvest, or grasp harvesting location and harvesting order for betteryielding.

Moreover, a spectral image allows a user to grasp the growth ofagricultural products and the state of disease, pest insects, and soil,and can also provide accurate information in classification of trees,grasping the carbon fixation rate (growth rate) thereof, searching formineral resources, estimating a fishery, and grasping regions ofseawater damaged and contaminated regions.

In particular, since capturing a spectral image from the sky by anairplane will make it possible to investigate in a short period of timean overwhelmingly vast range including forests, oceans, ruggedmountains, and contaminated regions, where access by a human throughfield survey is difficult, its application range is extremely wide.

Conventionally, when capturing a spectral image having several tens ofbands or more, which has a narrow wavelength resolution of about 20 nmor less, an optical device called a hyperspectral sensor including adiffraction grating is installed in an airplane having a fixed wing, andimage capturing is performed by using an image capturing method called apush-broom system. This push-broom system is a method for acquiring aspectral image in a two-dimensional space, in which a one-dimensionalspatial visual field set in a direction perpendicular to the travellingdirection of the airplane is used to simultaneously record all the bands(all the wavelength bands) at one exposure, and this recording isperformed successively at a time interval required for moving a distancecorresponding to one pixel, thus sweeping in the travelling direction.

For example, Japanese Patent Laid-Open No. 2011-169896 discloses aninvention relating to a hyperspectral imaging system equipped with apush-broom type sensor (Patent Literature 1).

CITATION LIST Patent Literature

[Patent Literature 1] Japanese Patent Laid-Open No. 2011-169896

SUMMARY OF INVENTION Technical Problem

However, when a spectral image is captured by a push-broom systemutilizing an airplane, including the invention according to PatentLiterature 1, if the airplane undergoes a disturbance during imagecapturing, a field of view obtained at a predetermined exposure isspatially deviated with respect to a field of view obtained at aneighboring exposure as shown in FIG. 16, thus causing a problem thatspatial distortion and deviation occurs in a synthesized two-dimensionalspectral image.

Moreover, a problem exists in that the highest value of spatialresolution in the push-broom system cannot be arbitrarily selected, anda permissible range of exposure time is narrow. That is, letting groundspeed of an airplane be V, and exposure time be T, the spatialresolution X in the travelling direction will be X=V×T. Here, in anairplane having a fixed wing, a minimum velocity for safe flight isprescribed based on the capacity of airframe. Moreover, the exposuretime T is a value naturally determined for ensuring a sufficient SN(signal to noise) ratio based on the brightness of an image capturingtarget. Therefore, the highest value of spatial resolution will be aconstant value determined from a prescribed minimum speed of theairplane and an exposure time which is automatically determined by thecapacity of the spectral camera, and therefore cannot be arbitrarilyselected. Moreover, a problem also exists in that when the brightness inthe airplane varies due to change of the weather conditions, etc. duringimage capturing, the exposure time needs to be increased in advance, itis not possible to select an optimal exposure time.

The present invention has been made to solve the above describedproblems, and has its objective to provide a spectral camera controldevice, a spectral camera control program, a spectral camera controlsystem, an aircraft equipped with the system, and a spectral imagecapturing method, with which it is possible to arbitrarily set a spatialresolution and an exposure time when a spectral image is captured,respectively, and suppress spatial distortion and deviation of spectralimage.

Solution to Problem

The spectral camera control device and the spectral camera controlprogram according to the present invention are installed, along with aspectral camera provided with a liquid crystal tunable filter, in anaircraft capable of stationary flight, and causes the spectral camera tocapture an image in a snapshot mode each time the transmissionwavelength of the liquid crystal tunable filter is switched while theaircraft is in stationary flight.

Moreover, as one aspect of the present invention, when either one of theamount of attitude change and the amount of position change of thespectral camera per exposure time in the spectral camera exceeds apredetermined threshold based on the spatial resolution of the spectralcamera, the exposure time of the spectral camera may be set to a shortertime than the current exposure time.

Further, as one aspect of the present invention, an angular velocity ofthe spectral camera may be acquired from an attitude sensor to calculatethe exposure time by Formula (1) shown below:T<X/(H×Ω)  Formula (1)

where each symbol represents the following:

T: Exposure time (sec),

X: Spatial resolution (m),

H: Height of aircraft (m), and

Ω: Angular velocity of spectral camera (rad/sec).

Moreover, as one aspect of the present invention, when the SN ratio of acaptured spectral image is less than a predetermined threshold, aplurality of spectral images may be captured in succession at the sametransmission wavelength.

Further, as one aspect of the present invention, the number of spectralimages to be captured in succession at the same transmission wavelengthmay be calculated by Formula (2) shown below:N>(SNt/SN1)²  Formula (2)

where each symbol represents the following:

N: Number of spectral images to be captured,

SN1: SN ratio of first spectral image, and

SNt: SN ratio threshold.

Moreover, a spectral camera control system according to the presentinvention includes the spectral camera control device and a spectralcamera to be controlled by this spectral camera control device.

Further, an aircraft capable of stationary flight according to thepresent invention has the spectral camera control system installedtherein.

Moreover, a spectral image capturing method according to the presentinvention utilizes the spectral camera control device which is installedalong with a spectral camera provided with a liquid crystal tunablefilter in an aircraft capable of stationary flight, wherein the spectralcamera control device causes the spectral camera to capture an image ina snapshot mode each time the transmission wavelength of the liquidcrystal tunable filter is switched while the aircraft is in stationaryflight.

Advantageous Effects of Invention

According to the present invention, it is possible to arbitrarily set aspatial resolution and an exposure time when capturing a spectral image,respectively, and suppress spatial distortion and deviation of thespectral image.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 shows a front view to illustrate an embodiment of an aircraft inwhich a spectral camera control system according to the presentinvention is installed.

FIG. 2 shows a plan view to illustrate the aircraft of the presentembodiment in FIG. 1.

FIG. 3 shows a block diagram to illustrate a spectral camera controlsystem of the present embodiment.

FIG. 4 shows a block diagram to illustrate a spectral camera controldevice of the present embodiment.

FIG. 5 shows a diagram to explain a factor to cause a blur to occur in aspectral image in the present embodiment.

FIG. 6 shows a diagram to illustrate relationship between the timing ofswitching the transmission wavelength of the liquid crystal tunablefilter and the timing of capturing an image with an image sensor in thepresent embodiment.

FIG. 7 shows a schematic view to illustrate relationship between thetiming of switching the transmission wavelength and the timing ofcapturing an image when a plurality of spectral images at the sametransmission wavelength are acquired in succession

FIG. 8 shows a flowchart to illustrate processing operation of thespectral camera control device of the present embodiment.

FIG. 9 shows a flowchart to illustrate processing operation of anoptimal exposure time setting section in the spectral camera controldevice of the present embodiment.

FIG. 10 shows a schematic view to represent a state of capturingspectral images in Example 1.

FIG. 11 shows a color map in which normalized vegetation indexcalculated based on the spectral image acquired by Example 1 is shown bythe shade of color.

FIG. 12 shows a spectral image obtained when the exposure time is 20 msin Example 2.

FIG. 13 shows a spectral image obtained when the exposure time is 50 msin Example 2.

FIG. 14 shows a spectral image obtained when the exposure time is 10 msand the transmission wavelength is 650 nm in Example 3.

FIG. 15 shows a spectral image obtained by superposing three spectralimages captured in succession including the spectral image shown in FIG.14 in Example 3.

FIG. 16 shows a schematic view to illustrate problems in capturingspectral images based on a push-broom system using a conventionalairplane.

DESCRIPTION OF EMBODIMENTS

Hereinafter, one embodiment of the spectral camera control device,spectral camera control program, spectral camera control system,aircraft equipped with the system, and spectral image capturing methodaccording to the present invention will be described by using thedrawings.

An aircraft 1 of the present embodiment, which is configured to becapable of stationary flight, is equipped with a spectral camera controlsystem 2 having a spectral camera control device 6 and a spectral camera3 controlled by the spectral camera control device 6 as shown in FIG. 1.Hereinafter, each configuration will be described in detail.

The aircraft 1, which is an aircraft having a function of flyingstationary in the air, a so-called hovering function, is made up amulticopter type drone (unmanned aerial vehicle) having a plurality ofrotary wings as shown in FIGS. 1 and 2 in the present embodiment.Moreover, the aircraft 1 of the present embodiment has a function ofautonomously flying a prescribed flight path and a function of flying byremote control from a communication device and the like. Further, theaircraft 1 has, though not shown, a GPS (Global Positioning System)receiver for detecting the position (longitude, latitude) and the heightof the own vehicle in flight, and an attitude sensor for detecting theattitude of the own vehicle in flight.

Note that in the present embodiment, although a multicopter type droneis used in the aircraft 1, it may be, without being limited thereto, anyaircraft provided that it is capable of stationary flight, and may beappropriately selected from, for example, helicopters, airships,balloons, and the like.

Next, as shown in FIG. 3, the spectral camera control system 2 primarilyincludes: a spectral camera 3 equipped with a liquid crystal tunablefilter 33 (LCTF); an attitude position detector 4 for detecting theattitude and position of the spectral camera 3; a liquid crystal tunablefilter control circuit 5 for controlling the liquid crystal tunablefilter 33 of the spectral camera 3; a spectral camera control device 6for controlling the spectral camera 3; and a battery 7 for supplyingpower to each equipment.

The spectral camera 3, which is for capturing a spectral image in asnapshot mode, primarily includes as shown in FIG. 3: a lens group 31, adepolarizing plate 32 for shifting polarized light into nonpolarizedlight; the liquid crystal tunable filter 33 with which the transmissionwavelength can be arbitrarily selected; and an image sensor 34 forcapturing a two-dimensional spectral image.

Then, the spectral camera 3 is installed in the aircraft 1 facingvertically downward as shown in FIGS. 1 and 3 such that the groundsurface becomes the image capturing target while the aircraft 1 is instationary flight. In the present invention, the term “snapshot mode” issupposed to mean a mode in which all the spectral intensities for eachposition coordinate in a two-dimensional field of view aresimultaneously acquired as an image for single predetermined wavelengthby one exposure to the image sensor 34.

A lens group 31 causes light from the image capturing target to betransmitted by the liquid crystal tunable filter 33 and causes the lightafter transmission to be condensed to the image sensor 34 by utilizingrefraction of light. The lens group 31 in the present embodiment isconstituted of, as shown in FIG. 3, an incident lens 311 for causing thelight of image capturing target to be condensed and to enter the liquidcrystal tunable filter 33, and a condensing lens 312 for causing onlythe light having a transmission wavelength after transmission throughthe liquid crystal tunable filter 33. Note that the kind and number ofeach lens are not specifically limited, and may be appropriatelyselected depending on the performance or the like of the spectral camera3 to condense to the image sensor 34.

The depolarizing plate 32 is for depolarizing polarized light, andtransforming it into nonpolarized light. In the present embodiment, thedepolarizing plate 32 is provided on the incident side of the liquidcrystal tunable filter 33 to depolarize the polarized light beforepassing through the liquid crystal tunable filter 33, thereby reducingpolarization property.

The liquid crystal tunable filter 33 is an optical filter with which itis possible to arbitrarily select a transmission wavelength from apredetermined wavelength range. The liquid crystal tunable filter 33 hasa configuration, though not shown, in which a plurality of planar liquidcrystal elements and planar polarizing elements are superposed in analternating manner. For each liquid crystal element, its orientationstate is independently controlled by applied voltage supplied from theliquid crystal tunable filter control circuit 5. Therefore, the liquidcrystal tunable filter 33 is configured to be able to transmit light ofan arbitrary wavelength by a combination of the orientation state of theliquid crystal element and the polarizing element.

Note that in the present embodiment, a range of transmission wavelengthof the liquid crystal tunable filter 33 is not more than about 20 nm,transmission center wavelength can be set at an interval of 1 nm, and awavelength switching time is about 10 ms to several 100 ms.

The image sensor 34 captures a spectral image in a snapshot mode. In thepresent embodiment, the image sensor 34 is made up of a two-dimensionalimage sensor such as a CMOS image sensor and a CCD image sensor, whichcan capture image in a field of view at the same timing. Moreover, asshown in FIG. 3, the image sensor 34 is configured to perform imagecapturing based on an image capturing instruction signal transmittedfrom the spectral camera control device 6.

The attitude position detector 4 is an instrument for detecting thestates of attitude and position of the spectral camera 3. The attitudeposition detector 4 in the present embodiment has a GPS receiver 41 fordetecting position information and height information of the spectralcamera 3, and an attitude sensor 42 for detecting attitude informationof the spectral camera 3.

The GPS receiver 41 is configured to acquire current positioninformation and height information by supplementing positions of aplurality of artificial satellites. The GPS receiver 41 in the presentembodiment is configured to acquire longitude information and latitudeinformation as position information, and acquire information of trueheight as height information. Note that the position information and theheight information are not limited to those acquired from the GPSreceiver 41, and may be acquired by another method. For example,distance from a reference point may be acquired as the heightinformation by a distance measurement instrument or the like whichdetermines a reference point and utilizes reflection of laser light andsound.

The attitude sensor 42 detects attitude information which includesinclination angle, angular velocity, and acceleration of the spectralcamera 3. The attitude sensor 42 in the present embodiment isconstituted of, though not shown, a gyroscopic sensor which utilizesgyroscopic property, and an acceleration sensor, and acquiresinclination angle, angular velocity, and acceleration in 3-axisdirections as the attitude information.

Note that although in the present embodiment position information andattitude information are acquired from the attitude position detector 4which is provided as the spectral camera control system 2, thisconfiguration is not limiting. For example, position information andattitude information may be acquired from the GPS receiver and theattitude sensor which are already provided in the aircraft 1.

The liquid crystal tunable filter control circuit 5 controls the liquidcrystal tunable filter 33. In the present embodiment, as shown in FIG.3, the liquid crystal tunable filter control circuit 5 supplies appliedvoltage in accordance with a wavelength specifying signal to the liquidcrystal element of the liquid crystal tunable filter 33 upon receiving awavelength specifying signal transmitted from the spectral cameracontrol device 6. Moreover, the wavelength specifying signal containsinformation of transmission wavelength which is transmitted by theliquid crystal tunable filter 33, and in the liquid crystal tunablefilter control circuit 5, determination is made to which liquid crystalelement applied voltage is to be supplied based on the information ofthe transmission wavelength, and applied voltage is supplied to thediscriminated liquid crystal element.

Note that although the liquid crystal tunable filter control circuit 5in the present embodiment is configured to be independent of othercomponents such as the spectral camera control device 6, this is notlimiting and for example it may be provided in the spectral cameracontrol device 6 or the spectral camera 3.

Next, the spectral camera control device 6 of the present embodimentwill be described.

The spectral camera control device 6, which controls capturing ofspectral image by the spectral camera 3, primarily consists of, as shownin FIG. 4, storage means 61 for storing spectral camera control program6 a and various data etc., and arithmetic processing means 62 foracquiring various data from this storage means 61, etc. and performingarithmetic processing of the same. Moreover, the spectral camera controldevice 6 in the present embodiment includes wireless communication means63 for allowing wireless communication with an external communicationdevice or the like.

The storage means 61, which is made up of ROM, RAM, hard disc, flashmemory, etc., stores various data and also functions as a working areawhen the arithmetic processing means 62 performs arithmetic processing.The storage means 61 in the present embodiment primarily includes: aprogram storage section 611 for storing the spectral camera controlprogram 6 a; an image capturing start condition storage section 612 forstoring start condition to capture a spectral image by the spectralcamera 3; an image capturing condition storage section 613 for storingimage capturing conditions such as exposure time for capturing aspectral image; a threshold storage section 614 for storing variouskinds of thresholds; and a spectral image storage section 615 forstoring spectral images captured by the spectral camera 3 as well asimage capturing time, etc.

The program storage section 611 has the spectral camera control program6 a of the present embodiment installed therein. Thus, the arithmeticprocessing means 62 executes the spectral camera control program 6 a tomake a computer function as the spectral camera control device 6 bymaking it function as each component as described later.

Note that the utilization form of the spectral camera control program 6a is not limited to the above described configuration. For example, thespectral camera control program 6 a may be stored in acomputer-readable, non-transitory recording medium such as a CD-ROM anda USB memory, and thereafter the program may be read out directly fromthe recording medium to execute it. Also, the program may be utilizedthrough a cloud computing system or ASP (application service provider)system or the like from an external server, etc.

The image capturing start condition storage section 612 storesinformation regarding image capturing start condition by the spectralcamera 3. In the present embodiment, as the image capturing startcondition, as shown in FIG. 4, an image capturing start time which isthe time when the spectral camera 3 starts capturing a spectral image;position conditions which are longitude information and latitudeinformation to start capturing the spectral image; and an heightcondition which is height information to start capturing the spectralimage.

Where, the height condition is set depending on a desired spatialresolution of the spectral camera 3. Specifically, a spatial resolutionX of a spectral image captured in a snapshot mode is represented asH=H×d/f, supposing that d is a size of one pixel of the image sensor 34,f is a focal length of the spectral camera 3, and H is an height toperform image capturing. Where, d/f is a constant value determined bythe specification of the spectral camera 3. Therefore, the spatialresolution X of the spectral camera 3 will be a function of the height Hof the spectral camera 3. In another word, the spatial resolution in thepresent embodiment can be arbitrarily set based on the height conditionas the image capturing start condition independently of the exposuretime of the spectral camera 3.

The image capturing condition storage section 613 stores various imagecapturing conditions when capturing spectral images. In the presentembodiment, the image capturing condition storage section 613 stores, asshown in FIG. 4, an exposure time which is initially set, an exposuretime which is optimized or reset by the processing to be describedbelow, and specific transmission wavelengths which are necessary forcapturing images as a spectral image. As the specific transmissionwavelengths to be stored in the image capturing condition storagesection 613, only necessary specific transmission wavelengths areselected and stored. The specific transmission wavelengths stored heremay be transmission wavelengths which specify a predetermined wavelengthrange either at a regular wavelength interval or at an irregularwavelength interval.

Next, the threshold storage section 614 stores various thresholds forcontrolling the spectral camera 3. The threshold storage section 614 inthe present embodiment stores, as shown in FIG. 4, a saturation limitvalue which is a limit value of lightness that the image sensor 34 canprocess; an angular velocity threshold which a limit value of theangular velocity of the spectral camera 3 at which blur occurs in acaptured spectral image; and an SN ratio threshold which is a limitvalue of SN (signal to noise) ratio which is required to acquire variousinformation such as growth of agricultural products from a capturedspectral image. Note that detailed information regarding the saturationlimit value, the angular velocity at which blur occurs, and the SN ratiowill be described below.

The spectral image storage section 615 stores spectral images capturedby the spectral camera 3, and the like. The spectral image storagesection 615 in the present embodiment stores, as shown in FIG. 4, imagecapturing times, and position information, height information, andattitude information of the spectral camera 3 at the time of imagecapturing, along with the spectral images. Note that although thespectral image storage section 615 in the present embodiment is providedin the storage means 61 of the spectral camera control device 6, this isnot limiting, and it may be provided on the side of a storage devicewhich is capable of wireless communication with the spectral camera 3 orthe spectral camera control device 6.

Next, arithmetic processing means 62 will be described. The arithmeticprocessing means 62 in the spectral camera control device 6 is made upof a CPU (central processing unit) and the like, and the spectral cameracontrol program 6 a installed in the storage means 61 is executed tocause the computer as the spectral camera control device 6 to functionas shown in FIG. 4 as an image capturing start condition discriminationsection 621, an optimal exposure time setting section 622, an attitudeposition information acquisition section 623, an attitude positionchange discrimination section 624, an exposure time resetting section625, a spectral image acquisition section 626, an SN ratiodiscrimination section 627, a successive image capturing numbercalculation section 628, an additional spectral image acquisitionsection 629, an image capturing end discrimination section 630, and awavelength specifying signal transmission section 631. Hereinafter, eachcomponent will be described in more detail.

The image capturing start condition discrimination section 621 functionsto discriminate the image capturing start condition by the spectralcamera 3. Specifically, the image capturing start conditiondiscrimination section 621 performs discrimination process on whether ornot the current time, the position information and the heightinformation of the spectral camera 3 detected by the attitude positiondetector 4 satisfy the image capturing start time, the positioncondition and the height condition stored in the image capturing startcondition storage section 612. Then, when the image capturing startcondition is satisfied, the image capturing start conditiondiscrimination section 621 starts the image capturing process by thespectral camera 3.

The optimal exposure time setting section 622 functions to automaticallyset an optimal exposure time of the spectral camera 3. Specifically, theoptimal exposure time setting section 622 first causes the imagecapturing condition storage section 613 to capture one spectral image atan initially set exposure time to acquire a maximum pixel value in thespectral image. Next, the optimal exposure time setting section 622discriminates whether or not the maximum pixel value is less than thesaturation limit value stored in the threshold storage section 614.

Then, if the maximum pixel value is less than the saturation limit valueas a result of the discrimination, the optimal exposure time settingsection 622 sets the initially set exposure time as the optimal exposuretime. On the other hand, if the maximum pixel value is not less than thesaturation limit value, the optimal exposure time setting section 622decreases the exposure time, and again causes a spectral image to becaptured, thus repeating the above described process until the maximumpixel value becomes less than the saturation limit value. Then, theexposure time when the maximum pixel value becomes less than thesaturation limit value is set as an optimal exposure time in the imagecapturing condition storage section 613.

Here, the meaning of the above described processing by the optimalexposure time setting section 622 will be described. In the image sensor34 of the spectral camera 3, light radiated form the image capturingtarget is detected as an electric signal, and that analog electricsignal is digitized to obtain image information. Because of that, whenlight radiated from the image capturing target is dark, the noiserelatively increases. Therefore, it is necessary to increase theexposure time to receive sufficient light. However, when the imagesensor 34 receives light brighter than the limit for the processing, theanalog electric signal becomes saturated, disabling to acquire a signalof accurate value. Therefore, the optimal exposure time setting section622 is adapted to set an exposure time at which a brightest image isobtained within a range that the analog electric signal is notsaturated, as an optimal exposure time.

Note that generally, the exposure time is determined based on thelightness, that is, spectral radiance (W/m²/sr/nm) of the imagecapturing target. The spectral radiance I(λ) has a relationship with apixel value D for each pixel of an spectral image to be acquired:I(λ)=C(λ)×D/T. Where, C(λ) is a calibration factor at a wavelength λ andis a value obtained by experiment using a known light source. Therefore,the optimal exposure time setting section 622 is adapted to set anexposure time based on the pixel value which is in proportionalrelationship with the lightness of the image capturing target.

In this way, the spectral camera control device 6 of the presentembodiment is configured to be able to set the exposure time of thespectral camera 3 separately, independent of spatial resolution.

Next, the attitude position information acquisition section 623functions to acquire an amount of attitude change or an amount ofposition change of the spectral camera 3 per exposure time of thespectral camera 3 from the attitude position detector 4. The attitudeposition information acquisition section 623 in the present embodimentacquires an angular velocity of the spectral camera 3 from the attitudesensor 42.

The attitude position change discrimination section 624 discriminateswhether or not the attitude and the stationary position of the aircraft1 have changed to a level that causes blur in the spectral image. Theattitude position change discrimination section 624 in the presentembodiment functions to discriminate whether or not at least either oneof the amount of attitude change and the amount of position change ofthe spectral camera 3 per exposure time of the spectral camera 3acquired by the attitude position information acquisition section 623 iswithin a predetermined threshold which is based on the spatialresolution of the spectral camera 3.

Here, factors that cause a blur in a spectral image will be described.In the present embodiment, image capturing of a spectral image isperformed while the aircraft 1 is in stationary flight. However, if theaircraft 1 is subjected to an external factor such as gush wind etc.during stationary flight, attitude change of the aircraft 1 as shown inFIG. 5(a), and position change of stationary flight as shown in FIG.5(b) occur. Then, when due to attitude change or position change of theaircraft 1, displacement of a right-below point of the image capturingtarget (displacement from point A to point B in FIG. 5) within anexposure time exceeds the spatial resolution of the spectral camera 3,blur will occur in the captured spectral image.

Moreover, since the spectral camera 3 captures images from a high placewhich is at a long distance to the image capturing target, displacementof a right-below point of the image capturing target within an exposuretime increases in proportion to the height. Therefore, supposing that Tis exposure time, X is spatial resolution, and H is height of thespectral camera 3 when a spectral image is captured, when angular changeper exposure time T becomes larger than X/H, that is, the angularvelocity of the aircraft 1 becomes not less than X/(H×T), blur occurs ina spectral image to be captured.

In view of what has been described so far, the attitude position changediscrimination section 624 functions to compare the angular velocity ofthe spectral camera 3 acquired by the attitude position informationacquisition section 623 with a predetermined angular threshold stored inthe threshold storage section 614, and to discriminate whether or notthe angular velocity has exceeded the angular velocity threshold.

Note that although in the attitude position change discriminationsection 624 in the present embodiment, discrimination is made on whetheror not blur will occur in a spectral image based on the angular velocityof the spectral camera 3, this is not limiting, and as shown in FIG.5(b), since blur due to position change also occurs, discrimination maybe made on whether or not blur of spectral image will occur based on therate of position change acquired from the acceleration sensor of theattitude sensor 42 or the amount of position change acquired from theGPS receiver 41.

Next, the exposure time resetting section 625 functions to reset theexposure time of the spectral camera 3 such that blur will not occur ina spectral image. Specifically, the exposure time resetting section 625is adapted, when it is discriminated that the angular velocity hasexceeded the angular velocity threshold by the attitude position changediscrimination section 624, to reset an exposure time, which is shorterthan the currently set exposure time, as a new exposure time in theimage capturing condition storage section 613.

The exposure time resetting section 625 in the present embodimentacquires an angular velocity of the spectral camera 3 from the attitudesensor 42 which detects the angular velocity as the amount of attitudechange of the spectral camera 3, and calculates a new exposure time byFormula (1) shown below, and makes it stored and reset in the imagecapturing condition storage section 613 as the exposure time of thespectral camera 3:T<X/(H×Ω)  Formula (1)

where each symbol represents the following:

T: Exposure time (sec),

X: Spatial resolution (m),

H: Height of aircraft (m), and

Ω: Angular velocity of spectral camera (rad/sec).

Note that the height H of the aircraft 1 is acquired from the imagecapturing start condition storage section 612, and the spatialresolution X is, as described above, calculated based on the height H.

The spectral image acquisition section 626 functions to transmit animage capturing instruction signal, which causes the image sensor 34 tocapture an image, to the spectral camera 3, and to acquire a spectralimage captured in a snapshot mode. In the present embodiment, thespectral image acquisition section 626 is adapted, as shown in FIG. 6,to capture a spectral image once each time the transmission wavelengthof the liquid crystal tunable filter 33 is switched by the liquidcrystal tunable filter control circuit 5 and store it in the spectralimage storage section 615.

The SN ratio discrimination section 627 functions to discriminatewhether or not an SN ratio is less than a predetermined SN ratiothreshold to confirm whether or not the acquired spectral image ensuresimage quality necessary for acquiring various information. Then, as aresult of discrimination, only when the SN ratio is less than the SNratio threshold, the spectral image acquisition section 626 is caused tocapture a plurality of spectral images in succession at the sametransmission wavelength.

Where, the term SN ratio means a numerical value of a signal level(signal) divided by a noise level (noise). However, since the noiselevel exhibits approximately constant value in the same spectral camera3, the same liquid crystal tunable filter 33, the same lensconfiguration, the same setting condition and the same image capturingenvironment, it can be measured in advance. Therefore, the SN ratio ofspectral image can be determined by calculating only the signal levelbased on a pixel value.

Therefore, in the present embodiment, the SN ratio discriminationsection 627 calculates a signal level from a spectral image acquired byimage capturing, and calculates an SN ratio by dividing that by thenoise level measured in advance. Then, the SN ratio is to be comparedwith the SN ratio threshold stored in the threshold storage section 614.

A successive image capturing number calculation section 628 calculatesthe image capturing number of spectral images to be additionallycaptured to improve the image quality of spectral image. Even for aspectral image with a low SN ratio, it is expected that the SN ratio ofthe spectral image obtained by superposing a plurality of spectralimages of the same transmission wavelength is improved by imageprocessing. For this reason, when it is discriminated that the SN ratioof the acquired spectral image is less than the SN ratio threshold bythe discrimination processing of the SN ratio discrimination section627, the successive image capturing number calculation section 628functions to calculate the number of images to be superposed in orderthat the SN ratio of the spectral image is larger than the SN ratiothreshold.

To be specific, while the signal level when N images are superposed willbe N times, the noise level has a characteristic to become √N times.Therefore, the SN ratio when N images are superposed will be (N/√N)times, that is, √N times of the SN ratio of the first spectral image.Thus, the successive image capturing number calculation section 628calculates an integer value that satisfies Formula (2) shown below asthe number N of the spectral images to be acquired in succession:N>(SNt/SN1)²  Formula (2)

where each symbol represents the following:

N: number of spectral images to be captured,

SN1: SN ratio of the first spectral image, and

SNt: SN ratio threshold.

Note that the number of spectral images to be captured in succession isnot limited to the number calculated by the method of Formula (2) shownabove, and may be a predetermined number.

An additional spectral image acquisition section 629 is for additionallyacquiring spectral images to improve image quality of the spectralimage. In the present embodiment, when it is discriminated that the SNratio of an acquired spectral image is less than the SN ratio thresholdby the SN ratio discrimination section 627, the additional spectralimage acquisition section 629 transmits an image capturing instructionsignal of N−1 images in which the first image is subtracted from thenumber N calculated by the successive image capturing number calculationsection 628 to the spectral camera 3 so that spectral images of the sametransmission wavelength are to be acquired in succession.

Specifically, as shown in FIG. 7, before the transmission wavelength ofthe liquid crystal tunable filter 33 is switched by the liquid crystaltunable filter control circuit 5, the additional spectral imageacquisition section 629 transmits an image capturing instruction signalof N−1 images to the spectral camera 3 in succession to the imagecapturing instruction signal by the spectral image acquisition section626, so that spectral images at the same transmission wavelength arecaptured in succession in a snapshot mode.

An image capturing end discrimination section 630 functions todiscriminate whether or not image capturing of spectral image isfinished. In the present embodiment, the image capturing enddiscrimination section 630 compares the transmission wavelength rangestored in the image capturing condition storage section 613 with thecaptured spectral image, and determines that image capturing is finishedwhen spectral images for all the wavelengths are captured.

The wavelength specifying signal transmission section 631 is fortransmitting a wavelength specifying signal to the liquid crystaltunable filter control circuit 5, thereby switching the transmissionwavelength of the liquid crystal tunable filter 33. In the presentembodiment, the wavelength specifying signal transmission section 631functions to successively transmit a wavelength specifying signal to theliquid crystal tunable filter control circuit 5 as long as imagecapturing is not finished. Specifically, the wavelength specifyingsignal transmission section 631 transmits wavelength specifying signalscorresponding to specific transmission wavelengths which have not beencaptured yet among the specific transmission wavelengths stored in theimage capturing condition storage section 613 in a predetermined orderto the liquid crystal tunable filter control circuit 5. The transmissionof the wavelength specifying signal is repeatedly performed each time aspectral image is acquired by capturing image by each transmissionwavelength, and when spectral images by all the specific transmissionwavelengths are acquired, the image capturing is finished.

Wireless communication means 63 is for performing wireless communicationwith a communication device. The wireless communication means 63 is atransmitter-receiver for performing wireless communication through anywireless communication scheme such as a communication network of mobilephone, wireless LAN, Wi-Fi, Bluetooth (registered trademark), or thelike. The wireless communication means 63 is capable of remote controland various setting of the spectral camera control device 6, andtransmission and reception of data such as spectral images through thewireless communication.

A battery 7 supplies electric power to each instrument, and in thepresent embodiment, as shown in FIG. 3, is connected to each of theattitude position detector 4, the spectral camera control device 6, theliquid crystal tunable filter control circuit 5, and the image sensor 34of the spectral camera 3 to supply electric power. Note that althoughthe battery 7 for the image sensor 34 in the present embodiment is usedin common for the spectral camera control device 6 and others, this isnot limiting, and the spectral camera 3 may be equipped with an originalbattery.

Next, actions of the spectral camera control device 6, the spectralcamera control program 6 a, the spectral camera control system 2, theaircraft 1 equipped with the system, and the spectral image capturingmethod of the present embodiment will be described.

First, the aircraft 1 in the present embodiment performs autonomousflight along a flight path prescribed by the control program of theaircraft 1 thereby flying to an image capturing point of a predeterminedposition and a predetermined height, and performs stationary flight atthe image capturing point. At this moment, since the spatial resolutionof the spectral image is in proportional relationship with the height ofthe aircraft 1, it is possible to control the spatial resolution at anyvalue by means of the height.

Next, in the spectral camera control device 6, discrimination processingon whether or not the spectral camera 3 satisfies the image capturingstart condition is performed by the image capturing start conditiondiscrimination section 621 as shown in FIG. 8 (step S1). Specifically,the image capturing start time, the position condition, and the heightcondition are acquired as the image capturing start condition from theimage capturing start condition storage section 612, and the positioninformation and the height information of the spectral camera 3 areacquired from the GPS receiver 41, thereby discriminating whether or notthe image capturing start condition is satisfied. This discrimination isrepeatedly performed until the state of the spectral camera 3 satisfiesall the image capturing start conditions (step S1: NO).

Next, when the image capturing start condition discrimination section621 discriminates that all the image capturing start conditions aresatisfied (step S1: YES), the optimal exposure time setting section 622automatically sets an optimal exposure time of the spectral camera 3(step S2). Specifically, as shown in FIG. 9, first the optimal exposuretime setting section 622 causes the spectral camera 3 to capture onespectral image at an initially set exposure time (step S21), andacquires a maximum pixel value in the spectral image (step S22).

Next, the optimal exposure time setting section 622 discriminateswhether or not the maximum pixel value is less than the saturation limitvalue stored in the threshold storage section 614 (step S23). When as aresult of the discrimination, it is discriminated that the maximum pixelvalue is not less than the saturation limit value (step S23: NO), theoptimal exposure time setting section 622 sets the exposure time to ashorter time than the initially set exposure time, and again causes thespectral camera 3 to capture one spectral image (step S24). Then, theprocessing from step S22 is repeated, and when it is discriminated thatthe maximum pixel value is less than the saturation limit value (S23:YES), the optimal exposure time setting section 622 sets the exposuretime set at that point in time as the optimal exposure time of thespectral camera 3. As a result of this, even when brightness varies dueto changes in the sun elevation and cloud cover during stationaryflight, image capturing at an optimal exposure time is possible.

Next, when the attitude position information acquisition section 623acquires an angular velocity from the attitude sensor 42 (step S3), theattitude position change discrimination section 624 compares the angularvelocity with the angular velocity threshold stored in the thresholdstorage section 614 to discriminate whether or not the angular velocityexceeds the angular velocity threshold (step S4). When as a result ofthe discrimination, it is discriminated that the angular velocity of thespectral camera 3 is not more than the angular velocity threshold (stepS4: NO), resetting of the exposure time is not performed assuming thatthe aircraft 1 is stably in stationary flight, and the exposure time setby the optimal exposure time setting section 622 is set as the exposuretime of the spectral camera 3.

On the other hand, when the attitude position change discriminationsection 624 discriminates that the angular velocity of the spectralcamera 3 exceeds the angular velocity threshold (step S4: YES), theexposure time resetting section 625 resets the exposure time of thespectral camera 3 to a new exposure time which is of a shorter time thanthe current exposure time (step S5). Since as a result of this, theexposure time is automatically regulated to a level that will not causeblur in the spectral image, deterioration of the spatial resolution willbe suppressed.

As described so far, in the spectral camera control device 6 of thepresent embodiment, it is possible to independently set the exposuretime and the spatial resolution. As a result of this, it is possible toregulate the exposure time in real time depending on the amount ofattitude change and the amount of position change of the spectral camera3 while ensuring high spatial resolution, thereby suppressing blur ofspectral image.

Next, the spectral image acquisition section 626 transmits an imagecapturing instruction signal to the spectral camera 3 to acquire aspectral image (step S6). At this moment, the acquired spectral image isstored along with the image capturing time, position information, heightinformation, and attitude information in the spectral image storagesection 615. As a result of this, image processing such as geometricalcorrection to make field of views finally matched becomes easy.

Next, the SN ratio discrimination section 627 discriminates whether ornot the SN ratio of the acquired spectral image is less than the SNratio threshold (step S7). As a result of this, even when an optimalexposure time set by the optimal exposure time setting section 622 isthereafter reset depending on the amount of attitude change and theamount of position change of the spectral camera 3, the appropriatenessof the SN ratio can be discriminated.

When as a result of the above described discrimination, it isdiscriminated that the SN ratio of the acquired spectral image is lessthan the SN ratio threshold (step S7: YES), the successive imagecapturing number calculation section 628 calculates the image capturingnumber of spectral images to be superposed based on Formula (2) shownabove (step S8).

Then, the additional spectral image acquisition section 629 transmits animage capturing instruction signal based on the image capturing numbercalculated by the successive image capturing number calculation section628, and as shown in FIG. 7, acquires spectral images of the sametransmission wavelength in succession (step S9). As a result of this,even under an image capturing condition in which a predetermined SNratio cannot be ensured with a single spectral image, spectral imagesare acquired in an enough number to be able to ensure the SN ratio bysuperposing them.

On the other hand, when the SN ratio discrimination section 627discriminates that the SN ratio of the acquired spectral image is notless than the SN ratio threshold (step S7: NO), the process proceeds tothe next processing without additionally acquiring spectral images (stepS10).

When a necessary number of spectral images are acquired, the imagecapturing end discrimination section 630 discriminates whether or notthe capturing of spectral images is finished (step S10). Then, when as aresult of the discrimination, it is discriminated that capturing ofspectral images is not finished (step 10: NO), the wavelength specifyingsignal transmission section 631 transmits an uncaptured wavelengthspecifying signal to the liquid crystal tunable filter control circuit 5(step S11).

As a result of this, the liquid crystal tunable filter control circuit 5supplies applied voltage in accordance with the received wavelengthspecifying signal to the liquid crystal tunable filter 33 of thespectral camera 3. Then, in the liquid crystal tunable filter 33, theorientation state of the liquid crystal element is controlled accordingto the applied voltage, and switching to specified transmissionwavelength by the wavelength specifying signal is performed.

Then, when the wavelength specifying signal is transmitted (step S11),the process goes back to step S3 described above, and this step isrepeated each time a spectral image at each transmission wavelength isacquired. As a result of this, it becomes possible to significantlyreduce the time relating to image capturing of a series of spectralimages by acquiring only spectral images of necessary, minimumtransmission wavelengths depending on the purpose, thereby alsoextending movable range of the aircraft 1. Then, when spectral images byall the transmission wavelength are acquired, image capturing isfinished (step S10: YES).

After the image capturing by the spectral camera 3 is finished, theaircraft 1 is changed from a stationary flight state to an autonomousflight, thus flying to a next image capturing point. The spectral cameracontrol device 6 captures a spectral image of the same or a differenttransmission wavelength as or from those of spectral images captured atimage capturing points until then at the next image capturing point.Then, the aircraft 1 returns or lands to a predetermined location afterfinishing image capturing at all the image capturing points.

According to the present embodiment as described above, the followingeffects can be obtained.

1. Since the spectral camera 3 equipped with the liquid crystal tunablefilter 33 is installed in the aircraft 1 capable of stationary flightand caused to capture an image in a snapshot mode, it is possible toarbitrarily set the spatial resolution of spectral image depending onimage capturing height.2. Since the exposure time of the spectral camera 3 can be setindependently of the spatial resolution of the spectral camera 3, and isreset in real time based on the amount of attitude change or the amountof position change of the spectral camera 3, it is possible to suppressspatial distortion and blur of spectral image.3. Since the control function of spatial resolution and the suppressionfunction of blur caused by the aircraft 1 can be controlledindependently, it is possible to capture a spectral image with a highspatial resolution.4. It is possible to ensure a predetermined SN ratio for all thewavelengths to be captured as a spectral image.5. It is possible to automatically calculate the image capturing numbernecessary for ensuring a predetermined SN ratio.6. Since the image sensor 34 and the liquid crystal tunable filter 33 ofa snapshot mode are relatively light weight and inexpensive, and can beinstalled in a commercially available aircraft 1 capable of stationaryflight, it is possible to suppress manufacturing cost thereof and makethem widely used.7. By installing the liquid crystal tunable filter 33 of snapshot modein the aircraft 1 capable of stationary flight, it is possible toautomatically capture a spectral image at a specified time and aspecified position.

Next, specific examples of the spectral camera control device 6, thespectral camera control program 6 a, the spectral camera control system2, the aircraft 1 equipped with the system, and the spectral imagecapturing method according to the present invention will be described.Note that the technical scope of the present invention will not belimited to features shown by the following examples.

Example 1

In Example 1, a spectral camera equipped with a liquid crystal tunablefilter was installed in a multicopter type drone to capture spectralimages.

The spectral camera included, as shown in FIG. 10, a lens of a diagonalviewing angle of about 90 degrees. The image sensor was a CCD imagesensor whose number of pixels was 659×494. The aircraft was made to flystationary at an height of about 120 m. At this moment, the size of thefield of view projected on the ground was 192 m×144 m. Moreover, oneside of a pixel of the image sensor corresponded to about 0.22 m. Thatis, the spatial resolution of the spectral camera of Example 1 was about0.22 m.

Image capturing in Example 1 was performed at an interval of 10 nm from460 nm to 780 nm for 33 transmission wavelengths. Specificationsregarding image capturing are as shown in Table 1 below.

TABLE 1 Number of CCD pixels 659 × 494 pixels Exposure time per onepixel 10 ms Size of one pixel at right-below point about 0.22 m (spatialresolution) SN ratio (@ 750 nm) 70 Transmission wavelength 33transmission wavelengths from 460 nm to 780 nm Bandwidth of transmissionwavelength 5.8 nm to 23.2 nm (by center wavelength) MTF (Nyquist) 12%

Next, as an application example of a captured spectral image, anormalized difference vegetation index (NDVI) was calculated fromspectral images of two transmission wavelengths among the acquiredspectral images of 33 wavelengths. FIG. 11 shows a color map in whichvalues of the normalized difference vegetation index are represented bythe shade of color. In FIG. 11, it is shown that as the value of theindex approaches to 1 (as the color of shade approaches to white), thevegetation is thicker. In this way, it is possible to quantitativelyevaluate the growth state of vegetation by a spectral image.

From what has been described, according to Example 1, it is shown thatby capturing a spectral image from an height of about 100 m, it ispossible to obtain detailed spectral information at a spatial resolutionof about 20 cm.

Example 2

In Example 2, an experiment was conducted to confirm that blur of aspectral image is suppressed by the present invention. Specifically,with the exposure time being set to 20 ms and 50 ms, spectral imageswere captured and the angular velocity of the spectral camera wasmeasured by an attitude sensor. Other specifications concerning imagecapturing are the same as in Example 1.

FIG. 12 shows a spectral image which was obtained when the exposure timewas 20 ms. As shown in FIG. 12, it is possible to clearly recognizecaptured buildings and thickly grown plants in the center and on theleft side in the acquired spectral image.

On the other hand, while FIG. 13 shows a spectral image which wasobtained when the exposure time was 50 ms, it is seen, in contrast toFIG. 12, that buildings and plants are obscured indicating blur occurredin the spectral image.

Then, based on each exposure time, an angular velocity which allows tomaintain spatial resolution without causing blur was calculated.Specifically, letting the exposure time be T, the spatial resolution beX, and the height of the spectral camera upon capturing the spectralimage be H, the angular velocity was calculated as Ω=X/(H×T). As aresult of that, the angular velocity Ω, at which no blur would occur atan exposure time of 20 ms, wasΩ=0.22/(120×0.02)=0.092 rad/sec.

Similarly, the angular velocity Ω, at which no blur would occur at anexposure time of 50 ms, wasΩ=0.22/(120×0.05)=0.037 rad/sec.

On the other hand, the angular velocity of the spectral camera measuredby the attitude sensor was about 0.087 rad/sec due to the effect ofwind.

That is, the angular velocity of the spectral camera of about 0.087rad/sec was slower than the angular velocity Ω=0.092 rad/sec at which noblur would occur at an exposure time of 20 ms. Therefore, no bluroccurred in the spectral image captured at an exposure time of 20 ms.

In contrast to that, the angular velocity of the spectral camera ofabout 0.087 rad/sec was faster than the angular velocity Ω=0.037 rad/secat which no blur would occur at an exposure time of 50 ms. Therefore, itis thought that a blur occurred in the spectral image captured at anexposure time of 50 ms.

What has been described so far indicated that according to Example 2,blur of spectral image is suppressed, and to suppress blur of spectralimage, it is effective to control the spectral camera by setting anexposure time so as not to cause blur based on the angular velocity ofthe spectral camera.

Example 3

In Example 3, an experiment was conducted to confirm that when the SNratio of a captured spectral image is less than a predetermined SN ratiothreshold, it is possible to obtain a spectral image with an SN rationot less than the SN ratio threshold by capturing a plurality ofspectral images at the same transmission wavelength in succession, andsuperposing those spectral images with each other.

The spectral image was captured by a spectral camera installed in themulticopter type drone used in Example 1. In this occasion, the exposuretime at the time of image capturing was 10 ms, and the transmissionwavelength by the liquid crystal tunable filter was 650 nm.

FIG. 14 shows an enlarged view of a part of the first spectral imagecaptured under the above described conditions. The SN ratio in thisfirst spectral image was SN1=27.3. Then, letting the SN ratio thresholdbe SNt=40, the number of spectral images to be captured in succession byusing the same transmission wavelength was calculated by using Formula(2) described above. As a result of that, Formula (2) resulted in N>2.2,and thus the necessary number of spectral images was calculated asthree.

Then superposition of three spectral images captured in succession andincluding the first spectral image was conducted. FIG. 15 shows aspectral image obtained by superposing three spectral images captured insuccession.

The spectral image of FIG. 14 generally appears unsmooth. On the otherhand, the spectral image of FIG. 15 appears in clearer contrast withreduced unsmoothness indicating that the noise is reduced. Moreover, theSN ratio of the spectral image shown in FIG. 15 was 40.5, and it waspossible to obtain a spectral image with an SN ratio of more than an SNratio threshold of 40 by superposing three spectral images in successionwith each other.

From what has been described, it was shown to be possible to improve theSN ratio of a spectral image by capturing a plurality of spectral imagesin succession at the same transmission wavelength, and superposing thosespectral images with each other. Moreover, it was shown that Formula (2)shown above is effective as means of calculating the image capturingnumber necessary for obtaining a spectral image with an SN ratio of morethan the SN ratio threshold from the SN ratio of the first spectralimage.

Note that the present invention will not be limited to the abovedescribed embodiments, and can be conveniently modified. For example, inthe exposure time resetting section 625, as the height value of theaircraft to be used in calculation by Formula (1), an actually measuredvalue by the attitude position detector may be used. Moreover, settingof each threshold and transmission of each signal and the like may beperformed from a communication device through the wireless communicationmeans 63.

REFERENCE SIGNS LIST

-   1 Aircraft-   2 Spectral camera control system-   3 Spectral camera-   4 Attitude position detector-   5 Liquid crystal tunable filter control circuit-   6 Spectral camera control device-   6 a Spectral camera control program-   7 Battery-   31 Lens group-   32 depolarizing plate-   33 Liquid crystal tunable filter-   34 Image sensor-   41 GPS receiver-   42 Attitude sensor-   61 Storage means-   62 Arithmetic processing means-   63 Wireless communication means-   311 Incident lens-   312 Condensing lens-   611 Program storage section-   612 Image capturing start condition storage section-   613 Image capturing condition storage section-   614 Threshold storage section-   615 Spectral image storage section-   621 Image capturing start condition discrimination section-   622 Optimal exposure time setting section-   623 Attitude position information acquisition section-   624 Attitude position change discrimination section-   625 Exposure time resetting section-   626 Spectral image acquisition section-   627 SN ratio discrimination section-   628 Successive image capturing number calculation section-   629 Additional spectral image acquisition section-   630 Image capturing end discrimination section-   631 Wavelength specifying signal transmission section

The invention claimed is:
 1. A spectral camera control device, beinginstalled, along with a spectral camera provided with a liquid crystaltunable filter, in an aircraft capable of stationary flight, wherein thespectral camera control device causes the spectral camera to capture animage in a snapshot mode each time a transmission wavelength of theliquid crystal tunable filter is switched while the aircraft is instationary flight, and wherein the spectral camera control device setsan exposure time of the spectral camera to a shorter time than a currentexposure time when either one of an amount of attitude change and anamount of position change of the spectral camera per exposure time inthe spectral camera exceeds a predetermined threshold based on a spatialresolution of the spectral camera, an angular velocity of the spectralcamera may be acquired from an attitude sensor to calculate the exposuretime by Formula (1) shown below:T<X/(H×Ω)  Formula (1) where each symbol represents the following: T:Exposure time (sec), X: Spatial resolution (m), H: Height of aircraft(m), and Ω: Angular velocity of spectral camera (rad/sec).
 2. A methodfor executing a spectral camera control program, being installed, alongwith a spectral camera provided with a liquid crystal tunable filter, inan aircraft capable of stationary flight, comprising: step of causing acomputer to function as a spectral camera control device which causesthe spectral camera to capture an image in a snapshot mode each time atransmission wavelength of the liquid crystal tunable filter is switchedwhile the aircraft is in stationary flight, step of causing a computerto function as a special camera control device which sets an exposuretime of the spectral camera to a shorter time than a current exposuretime when either one of an amount of attitude change and an amount ofposition change of the spectral camera per exposure time in the spectralcamera exceeds a predetermined threshold based on a spatial resolutionof the spectral camera, and step of causing a computer to function as aspectral camera control device which acquires an angular velocity of thespectral camera from an attitude sensor to calculate the exposure timeby Formula (1) shown below:T<X/(H×Ω)  Formula (1) where each symbol represents the following: T:Exposure time (sec), X: Spatial resolution (m), H: Height of aircraft(m), and Ω: Angular velocity of spectral camera (rad/sec).